47 lines
1.6 KiB
C
47 lines
1.6 KiB
C
|
/*
|
||
|
|
* Copyright 2018 The Cartographer Authors
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
|
||
|
|
#define CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
|
||
|
|
|
||
|
|
#include "cartographer_grpc/local_trajectory_uploader.h"
|
||
|
|
#include "glog/logging.h"
|
||
|
|
#include "gmock/gmock.h"
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
|
||
|
|
namespace cartographer_grpc {
|
||
|
|
namespace testing {
|
||
|
|
|
||
|
|
class MockLocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
|
||
|
|
public:
|
||
|
|
MOCK_METHOD1(DoEnqueueDataRequest, void(google::protobuf::Message *));
|
||
|
|
void EnqueueDataRequest(
|
||
|
|
std::unique_ptr<google::protobuf::Message> data_request) override {
|
||
|
|
DoEnqueueDataRequest(data_request.get());
|
||
|
|
}
|
||
|
|
MOCK_METHOD3(
|
||
|
|
AddTrajectory,
|
||
|
|
void(int, const std::set<SensorId> &,
|
||
|
|
const cartographer::mapping::proto::TrajectoryBuilderOptions &));
|
||
|
|
MOCK_METHOD1(FinishTrajectory, void(int));
|
||
|
|
MOCK_CONST_METHOD1(GetLocalSlamResultSensorId, SensorId(int));
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace testing
|
||
|
|
} // namespace cartographer_grpc
|
||
|
|
|
||
|
|
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
|